CN103994859B - A kind of high accuracy on-line dynamic balancing detecting and controlling system and method - Google Patents
A kind of high accuracy on-line dynamic balancing detecting and controlling system and method Download PDFInfo
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Abstract
The invention discloses a kind of high accuracy on-line dynamic balancing detecting and controlling system and method.The system includes rotating machinery, vibrating sensor, speed probe, uneven adjusting apparatus, double-core embedded type control module and host computer.This method operating procedure：（1）First layer network dynamic balancing is controlled：The DSP core Real-time Collection vibrating sensor and the data of speed probe of double-core embedded type control module, calculates output control signal, the motion of the uneven adjusting apparatus of control；（2）Second layer network dynamic balancing is controlled：The ARM cores of double-core embedded type control module are communicated with host computer by wireless transmission and receiving module, Accurate Model is carried out in host computer to the Controlling model of rotating machinery, and periodically output calibration control signal accurately corrects the motion of uneven adjusting apparatus.The advantage of double-core embedded type control module and host computer can be made full use of using system and method for the present invention, the dynamic balancing situation of online accurate detection control rotating machinery.
Description
Technical field
The present invention relates to a kind of high accuracy on-line dynamic balancing detecting and controlling system and method, are particularly well-suited to quick peeler
The accurate on-line dynamic balancing control of tool.
Technical background
The unbalance vibration caused due to rotor quality skewness is to affect rotating machinery operational effect and safety
One of major influence factors, on-line dynamic balancing technology can carry out the detection control of real-time online to the poised state of rotor, disappear
The imbalance produced in running except rotating machinery, can effectively protect the operating personnel of rotating machinery and surrounding, extend rotation
The service life of favourable turn tool, thus it is significant.There is certain defect in existing method at present：Embedded control is used only
Molding block only carries out algorithm process and control to amount of unbalance using host computer.Embedded type control module and host computer respectively have
Advantage, wherein flush bonding module real-time are good, but operational capability is limited, it is impossible to using multiple in the case of requirement of real-time height
Miscellaneous accurate algorithm；Host computer operational capability is stronger, but real-time is poor, it is impossible to carry out quick response and control to system.
At present, for on-line dynamic balancing technology, Chinese Patent Application No. " 200710063642.6 " separately discloses " a kind of
High accuracy number online dynamic balance based on FPGA is detected "；Chinese Patent Application No. " 201210363937.6 " is separately disclosed
" a kind of online active dynamic balancing measure and control device and investigating method "；Chinese Patent Application No. " 200910235439.1 " is public one by one
" dynamic balance test method and device " is opened；Chinese Patent Application No. " 200910235439.1 " separately discloses " dynamic balancing inspection
Survey method and apparatus "；Chinese Patent Application No. " 201210442081.1 " separately discloses a kind of " the dynamic balancing survey of rotating machinery
Method for testing ".In published invention or document, do not mention using embedded type control module with upper structure into double-layer network
The example of control accuracy is detected to improve on-line dynamic balancing.
The content of the invention
For the defect that prior art is present, it is an object of the invention to provide a kind of detection control of high accuracy on-line dynamic balancing
System and method, can make full use of the advantage of double-core embedded type control module and host computer, online accurate detection control rotation
The dynamic balancing situation of favourable turn tool, eliminates the control Problem of Failure in the case of rotating machinery long-play, so as to prolonged mechanical
Service life, increased the security of system.
To reach above-mentioned purpose, technical scheme below is present invention employs:
A kind of high accuracy on-line dynamic balancing detecting and controlling system, which includes rotating machinery, vibrating sensor, revolution speed sensing
Device, uneven adjusting apparatus, double-core embedded type control module and host computer, it is characterised in that：Vibrating sensor and revolution speed sensing
The input of device is connected with rotating machinery, output end and the double-core embedded type control module phase of vibrating sensor and speed probe
Even, uneven adjusting apparatus connect rotating machinery and double-core embedded type control module respectively, host computer by wireless network with it is double
Core embedded type control module is connected.The double-core embedded type control module includes DSP core and ARM cores, is responsible for examining in real time
The rotating machinery vibrating and tach signal of vibrating sensor and speed probe conversion are surveyed, signal transacting and dynamic balancing algorithm is carried out
Calculate, and related data is sent to into host computer carries out the Controlling model to rotating machinery and carry out Accurate Model, produce periodically
Correcting controlling signal, the motion of the uneven adjusting apparatus of final control realizes dynamic balancing detection control.
A kind of high accuracy on-line dynamic balancing detects control method, comprises the following steps：
（1）First layer network dynamic balancing is controlled：The DSP core of the double-core embedded type control module is in the revolution speed sensing
The triggering of device is interrupted lower Real-time Collection and is arranged on the vibrating sensor data on the rotating machinery, and the data of collection are passed through
Zero phase-shift iir filter filtering interference signals, are then calculated the amplitude and phase place of amount of unbalance, are then led to by FFT
Excessive queue filtering technique filters the incomplete vibration signal of sampling and eliminates the numerical fluctuations that Different sampling period brings, finally
Output control signal is calculated by factor of influence method, the motion of the uneven adjusting apparatus is controlled, and then is realized ground floor net
The dynamic balancing control effect of network；
（2）Second layer network dynamic balancing is controlled：While the first layer network dynamic balancing is controlled, many teams in the first layer network
Arrange filtered data and ARM cores are issued by the double-core communication of the double-core embedded type control module, and sent out by ARM core wireless
Send and communicated with the host computer with receiving module, group's algorithm is used using its powerful computing capability in the host computer
Accurate Model is carried out to the Controlling model of the rotating machinery, and periodically output calibration control signal accurately corrects described
The motion of uneven adjusting apparatus, and then realize the dynamic balancing control effect of the second layer network.
In above-mentioned high accuracy on-line dynamic balancing detection control method, the vibrating sensor data for collecting are allowed through zero phase-shift
Iir filter process, both ensure that the rapidity of filtering, and had not produced the skew of phase place.
In above-mentioned high accuracy on-line dynamic balancing detection control method, many queue filtering techniques refer to：First entered using multigroup
With sampling number as foundation, the amplitude and phase place of the amount of unbalance calculated to FFT are stored first dequeue respectively,
When the data total amount of a certain queue storage meets the queue length of setting, then assert that the sampling number of the queue is normal, meter
The mean value of data in the queue is calculated as output, after removing the data of other queue storages, the filtering of a new round is carried out.
The present invention is compared with prior art, with substantive distinguishing features following prominent and significantly progressive：
（1）The employing two-tier network of novelty of the present invention carries out high precision test control to on-line dynamic balancing, can utilize
The fast-response energy of double-core embedded type module carries out real-time control to dynamic balancing, can make full use of the powerful calculating of host computer again
The advantage such as ability and big storage carries out the Accurate Model of complexity, and then dynamic balancing is corrected, and is beneficial to ensureing real-time
On the premise of, improve dynamically balanced control accuracy.
（2）It is different with elimination that the present invention can effectively filter out the incomplete vibration signal of sampling using many queue filtering techniques
The numerical fluctuations that sampling period brings so that detecting and controlling system and method have stronger robust to the noise of practical work environment
Property, versatility is strengthened.
（3）The present invention adopts ARM+DSP double-core embedded type control modules, makes full use of the network communication advantage of ARM cores
With the computing advantage of DSP core, the real-time and reliability of on-line dynamic balancing detection control can be largely improved.
Description of the drawings：
Fig. 1 is a kind of overall construction drawing of high accuracy on-line dynamic balancing detecting and controlling system of the invention.
Fig. 2 is the flow chart that a kind of high accuracy on-line dynamic balancing involved in the present invention detects control method.
Specific embodiment
The present invention is described in further detail with preferred embodiment below in conjunction with the accompanying drawings.
Embodiment one：
As shown in figure 1, this high accuracy on-line dynamic balancing detecting and controlling system, which includes rotating machinery（1.1）For biological training
Foster shaking table shaking platform, vibrating sensor（1.2）It is acceleration transducer, the speed probe of five acceleration of gravity for range
（1.3）For high speed optoelectronic switch, uneven adjusting apparatus（1.4）To automatically control removable quality slide block, double-core embedded type control
Molding block（1.5）For the OMAPL138 double-core modules of TIX, host computer（1.6）, it is characterised in that：Vibration is passed
Sensor（1.2）And speed probe（1.3）Input and rotating machinery（1.1）It is connected, vibrating sensor（1.2）Pass with rotating speed
Sensor（1.3）Output end and double-core embedded type control module（1.5）It is connected, uneven adjusting apparatus（1.4）Connection rotation respectively
Favourable turn tool（1.1）With double-core embedded type control module（1.5）, host computer（1.6）Controlled with double-core embedded type by wireless network
Module（1.5）It is connected；The double-core embedded type control module（1.5）Include DSP core and ARM cores, be responsible for real-time detection
Vibrating sensor（1.2）And speed probe（1.3）The rotating machinery of conversion（1.1）Vibration and tach signal, are carried out at signal
Reason and dynamic balancing algorithm are calculated, and related data is sent to host computer（1.6）Carry out to rotating machinery（1.1）Controlling model
Accurate Model is carried out, periodic correcting controlling signal, final control imbalance adjusting apparatus are produced（1.4）Motion, realize
Dynamic balancing detection control.
Embodiment two：
As shown in Fig. 2 this high accuracy on-line dynamic balancing detection control method, is balanced control, energy using said system
The dynamic balancing situation of enough detection control rotating machineries accurate online, eliminates the control mistake in the case of rotating machinery long-play
Effect problem, so as to the service life of prolonged mechanical, increased the security of system.Concrete operation step is as follows：
（1）First layer network dynamic balancing is controlled：Double-core embedded type control module（1.5）DSP core in speed probe
（1.3）Triggering interrupt lower Real-time Collection and be arranged on rotating machinery（1.1）On vibrating sensor（1.2）Data, the number of collection
According to through zero phase-shift iir filter filtering interference signals, the amplitude and phase place of amount of unbalance are then calculated by FFT,
Then pass through many queue filtering techniques to filter the incomplete vibration signal of sampling and eliminate the numerical value ripple that Different sampling period brings
It is dynamic, output control signal, the uneven adjusting apparatus of control are calculated finally by factor of influence method（1.4）Motion, and then realize
The dynamic balancing control effect of the first layer network.
（2）Second layer network dynamic balancing is controlled：While the first layer network dynamic balancing is controlled, many teams in the first layer network
Filtered data are arranged by double-core embedded type control module（1.5）Double-core communication issue ARM cores, and by ARM core wireless
Send and receiving module and host computer（1.6）Communicated, in host computer（1.6）It is middle to use group using its powerful computing capability
Algorithm is to rotating machinery（1.1）Controlling model carry out Accurate Model, and the periodically accurate school of output calibration control signal
Positive imbalance adjusting apparatus（1.4）Motion, and then realize the dynamic balancing control effect of the second layer network.
Embodiment three：
The present embodiment is essentially identical with embodiment two, and special feature is as follows：
（1）First layer network dynamic balancing is controlled：
1) speed probe（1.3）The tach signal of generation（2.3）By shaping pulse（2.4）To double-core embedded type control
Module（1.5）DSP core carry out triggering interruption（2.5）；
2) double-core embedded type control module（1.5）DSP core triggering interrupt（2.5）In the presence of, Real-time Collection peace
It is mounted in rotating machinery（1.1）On vibrating sensor（1.2）Produce and through A/D change（2.2）The vibration signal of process
（2.1）；
3) double-core embedded type control module（1.5）DSP core by the vibration signal data for collecting through zero phase-shift IIR
Filtering（2.6）Filtering interference signals, not only filtering speed is fast, and no phase shift phenomenon；
4) double-core embedded type control module（1.5）DSP core by step 3）Result through FFT（2.7）Process,
Calculate respectively through amount of unbalance amplitude again（2.8）With amount of unbalance phase calculation（2.9）The width of amount of unbalance is calculated afterwards
Value and phase place；
5) double-core embedded type control module（1.5）DSP core by step 4）The amplitude and phase place of the amount of unbalance for obtaining
Filter through many queues（2.10）, filter the incomplete vibration signal of sampling and eliminate the numerical value ripple that Different sampling period brings
It is dynamic；
6) double-core embedded type control module（1.5）DSP core by step 5）The filtered data for obtaining by affect because
Sub- method calculates output control signal（2.11）；
7) uneven adjusting apparatus（1.4）Receiving step 6）The control signal of output, carries out amount of unbalance adjustment（2.23）,
Realize the dynamic balancing control effect of the first layer network；
（2）Second layer network dynamic balancing is controlled：
1) double-core embedded type control module（1.5）DSP core will filter through many queues（2.10）The data for obtaining afterwards
By double-core embedded type control module（1.5）Double-core communication（2.12）Issue double-core embedded type control module（1.5）ARM cores
The heart, then by transmitting wirelessly data（2.13）It is sent to host computer（1.6）；
2) host computer（1.6）By wireless reception of signals（2.15）If host computer finds that the data fluctuations for receiving surpass
Threshold value, or the model that now neither one is built up are crossed, then meets needs more new model（2.16）, then will be built by group's algorithm
Mould（2.17）Data to collecting are modeled, if host computer finds that the data fluctuations for receiving are not above threshold value, and
And now had a model built up, then it is unsatisfactory for needing more new model（2.16）, by the data input model for receiving
（2.20）；
3) step 2）Middle group's algorithm modeling（2.17）Need a certain amount of data to support, complete when modeling is unsatisfactory for（2.18）
When, host computer（1.6）New data will be continued waiting for（2.19）, otherwise meet modeling and complete（2.18）, then by the model built up
Give input model（2.20）；
4) step 2）In when data are through input model（2.20）Afterwards, model will export periodicity correcting controlling signal
（2.21）, and by transmitting wirelessly signal（2.22）It is sent to double-core embedded type control module（1.5）ARM cores；
5) double-core embedded type control module（1.5）ARM core wireless receiving datas（2.14）, by the control for receiving
Signal output is to uneven adjusting apparatus（1.4）, carry out amount of unbalance adjustment（2.23）, realize the dynamic balancing control of the second layer network
Effect processed.
Claims (3)
1. a kind of high accuracy on-line dynamic balancing detects control method, is controlled using high accuracy on-line dynamic balancing detecting and controlling system
System, the control system include rotating machinery（1.1）, vibrating sensor（1.2）, speed probe（1.3）, uneven adjusting apparatus
（1.4）, double-core embedded type control module（1.5）, host computer（1.6）, it is characterised in that：Vibrating sensor（1.2）Pass with rotating speed
Sensor（1.3）Input and rotating machinery（1.1）It is connected, vibrating sensor（1.2）And speed probe（1.3）Output end
With double-core embedded type control module（1.5）It is connected, uneven adjusting apparatus（1.4）Connect rotating machinery respectively（1.1）And double-core
Embedded type control module（1.5）, host computer（1.6）By wireless network and double-core embedded type control module（1.5）It is connected；It is described
Double-core embedded type control module（1.5）Include DSP core and ARM cores, be responsible for real-time detection vibrating sensor（1.2）With turn
Fast sensor（1.3）The rotating machinery of conversion（1.1）Vibration and tach signal, carry out signal transacting and dynamic balancing algorithm is calculated,
And related data is sent to into host computer（1.6）, host computer（1.6）To rotating machinery（1.1）Controlling model accurately built
Mould, produces periodic correcting controlling signal, final control imbalance adjusting apparatus（1.4）Motion, realize dynamic balancing detect
Control, it is characterised in that the concrete operation step of the method is as follows：
（1）First layer network dynamic balancing is controlled：Double-core embedded type control module（1.5）DSP core in speed probe（1.3）
Triggering interrupt lower Real-time Collection and be arranged on rotating machinery（1.1）On vibrating sensor（1.2）Data, the data of collection are passed through
Zero phase-shift iir filter filtering interference signals, are then calculated the amplitude and phase place of amount of unbalance, are then led to by FFT
Excessive queue filtering technique filters the incomplete vibration signal of sampling and eliminates the numerical fluctuations that Different sampling period brings, finally
Output control signal, the uneven adjusting apparatus of control are calculated by factor of influence method（1.4）Motion, and then realize ground floor net
The dynamic balancing control effect of network；
（2）Second layer network dynamic balancing is controlled：While the first layer network dynamic balancing is controlled, many queue filters in the first layer network
Data after ripple are by double-core embedded type control module（1.5）Double-core communication issue ARM cores, and sent by ARM core wireless
With receiver module and host computer（1.6）Communicated, in host computer（1.6）It is middle to use group's algorithm using its powerful computing capability
To rotating machinery（1.1）Controlling model carry out Accurate Model, and periodically output calibration control signal accurately correction is not
Balance adjusting device（1.4）Motion, and then realize the dynamic balancing control effect of the second layer network.
2. a kind of high accuracy on-line dynamic balancing according to claim 1 detects control method, it is characterised in that the step
（1）The concrete operation step of the first layer network dynamic balancing control is as follows：
1) speed probe（1.3）The tach signal of generation（2.3）By shaping pulse（2.4）To double-core embedded type control module
（1.5）DSP core carry out triggering interruption（2.5）；
2) double-core embedded type control module（1.5）DSP core triggering interrupt（2.5）In the presence of, Real-time Collection is arranged on
Rotating machinery（1.1）On vibrating sensor（1.2）Produce and through A/D change（2.2）The vibration signal of process（2.1）；
3) double-core embedded type control module（1.5）DSP core by the vibration signal data for collecting through zero phase-shift IIR filter
（2.6）Filtering interference signals, not only filtering speed is fast, and no phase shift phenomenon；
4) double-core embedded type control module（1.5）DSP core by step 3）Result through FFT（2.7）Process, then divide
Do not calculate through amount of unbalance amplitude（2.8）With amount of unbalance phase calculation（2.9）Calculate afterwards amount of unbalance amplitude and
Phase place；
5) double-core embedded type control module（1.5）DSP core by step 4）The amplitude of the amount of unbalance for obtaining and phase place are passed through
Many queue filtering（2.10）, filter the incomplete vibration signal of sampling and eliminate the numerical fluctuations that Different sampling period brings；
6) double-core embedded type control module（1.5）DSP core by step 5）The filtered data for obtaining passes through factor of influence method
Calculate output control signal（2.11）；
7) uneven adjusting apparatus（1.4）Receiving step 6）The control signal of output, carries out amount of unbalance adjustment（2.23）, realize
The dynamic balancing control effect of the first layer network.
3. a kind of high accuracy on-line dynamic balancing according to claim 1 detects control method, it is characterised in that the step
（2）The concrete operation step of the second layer network dynamic balancing control is as follows：
1) double-core embedded type control module（1.5）DSP core will filter through many queues（2.10）The data for obtaining afterwards are by double
Core embedded type control module（1.5）Double-core communication（2.12）Issue double-core embedded type control module（1.5）ARM cores, then
By transmitting wirelessly data（2.13）It is sent to host computer（1.6）；
2) host computer（1.6）By wireless reception of signals（2.15）If host computer finds that the data fluctuations for receiving exceed threshold
Value, or the input model that now neither one is built up（2.20）, then meet needs more new model（2.16）Condition, then passes through
Group's algorithm modeling（2.17）Data to collecting are modeled, if host computer finds that the data fluctuations for receiving are not above
Threshold value, and now had an input model built up（2.20）, then it is unsatisfactory for needing more new model（2.16）, will receive
The data input for arriving is to input model（2.20）；
3) step 2）Middle group's algorithm modeling（2.17）Need a certain amount of data to support, complete when modeling is unsatisfactory for（2.18）When,
Host computer（1.6）New data will be continued waiting for（2.19）, otherwise meet modeling and complete（2.18）, so as to form the input built up
Model（2.20）；
4) step 2）In when the data input for receiving is to input model（2.20）Afterwards, input model（2.20）The cycle can be exported
Property correcting controlling signal（2.21）, and by transmitting wirelessly signal（2.22）It is sent to double-core embedded type control module（1.5）'s
ARM cores；
5) double-core embedded type control module（1.5）ARM core wireless receiving datas（2.14）, the control signal for receiving is defeated
Go out to uneven adjusting apparatus（1.4）, carry out amount of unbalance adjustment（2.23）, realize the dynamic balancing control effect of the second layer network
Really.
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| CN106679589A (en) * | 2017-03-07 | 2017-05-17 | 华侨大学 | High-speed high-precision non-contact type coordinate measuring machine and measuring method thereof |
| CN108414147B (en) * | 2018-02-27 | 2019-12-13 | 西安科技大学 | Online self-adaptive active balancing method for electric spindle considering air gap imbalance |
| CN109186860A (en) * | 2018-08-31 | 2019-01-11 | 大唐东北电力试验研究院有限公司 | A kind of power station air-introduced machine intelligence dynamic balancing instrument based on internet big data |
| CN111691963B (en) * | 2020-06-09 | 2021-07-20 | 安徽江淮汽车集团股份有限公司 | Method and device for detecting dynamic balance of automobile fan |
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